CN115563734A - Fault-tolerant time interval calculation method and device, electronic equipment and storage medium - Google Patents

Fault-tolerant time interval calculation method and device, electronic equipment and storage medium Download PDF

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CN115563734A
CN115563734A CN202211216078.8A CN202211216078A CN115563734A CN 115563734 A CN115563734 A CN 115563734A CN 202211216078 A CN202211216078 A CN 202211216078A CN 115563734 A CN115563734 A CN 115563734A
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vehicle
model
information
parameter model
time interval
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张琳娜
周东昇
周宏伟
马旭
侯亚飞
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Chongqing Changan Automobile Co Ltd
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Abstract

The invention provides a fault tolerance time interval calculation method, which comprises the following steps: acquiring vehicle state information of a front vehicle and a vehicle, wherein the vehicle state information comprises running time information, vehicle speed information and vehicle acceleration information; determining an acceleration model according to the running time information, the vehicle speed information and the vehicle acceleration information of the vehicle; solving a differential equation of the acceleration model to obtain a third parameter model; integrating the third parameter model to obtain a fourth parameter model; determining a fifth parameter model according to the running time information and the vehicle speed information of the preceding vehicle; and determining the fault tolerance time interval according to the fourth parameter model, the fifth parameter model and a preset second parameter model. According to the scheme, the value of the fault tolerance time interval can be rapidly obtained through the fourth parameter model, the fifth parameter model and the preset second parameter model, the speed is high, the cost is low, and the follow-up procedures are not affected.

Description

Fault-tolerant time interval calculation method and device, electronic equipment and storage medium
Technical Field
The application relates to the technical field of automobile safety, in particular to a fault tolerance time interval calculation method and device, electronic equipment and a computer readable storage medium.
Background
FTTI (Fault Tolerant Time Interval), i.e., a Fault tolerance Time Interval. A time interval during which a system fault may exist before a hazard event occurs, the fault tolerance time interval comprising a two-part fault detection time and a fault response time.
The fault tolerance time interval needs to pass a large number of simulation tests, and a large amount of time cost and production cost are spent to obtain the fault tolerance time interval. The method has the advantages of complex process, long period and high cost, and is not beneficial to the development and the implementation of the subsequent work of vehicle production.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a fault tolerant time interval calculation method and apparatus, an electronic device and a computer readable storage medium to solve the above technical problems.
The invention provides a fault tolerance time interval calculation method, which comprises the following steps:
acquiring vehicle state information of a front vehicle and a vehicle, wherein the vehicle state information comprises running time information, vehicle speed information and vehicle acceleration information;
determining an acceleration model according to the running time information, the vehicle speed information and the vehicle acceleration information of the vehicle;
solving a differential equation of the acceleration model to obtain a third parameter model;
integrating the third parameter model to obtain a fourth parameter model;
determining a fifth parameter model according to the running time information and the vehicle speed information of the preceding vehicle;
and determining the fault tolerance time interval according to the fourth parameter model, the fifth parameter model and a preset second parameter model.
In an embodiment of the invention, the presetting of the second parametric model includes:
and presetting a second parameter model according to the vehicle speed information of the vehicle.
In an embodiment of the invention, determining the fault tolerance time interval according to the second parametric model, the fourth parametric model and the fifth parametric model includes:
and listing the second parameter model, the fourth parameter model and the fifth parameter model as equations to determine fault tolerance time intervals.
In an embodiment of the present invention, the determining the fault tolerance time interval by using the second parametric model, the fourth parametric model and the fifth parametric model as equations includes:
the fourth parametric model is equal to a sum of the second parametric model and a fifth parametric model.
In an embodiment of the present invention, the representation of the acceleration model includes:
Figure BDA0003876130930000021
wherein a represents the acceleration of the vehicle at the time of failure, v 0 The speed at the time of failure of the vehicle is shown, and t is the time from the time of failure of the vehicle to the time of collision of the two vehicles.
In an embodiment of the present invention, the representation of the second parametric model includes:
D min ＝0.632×v 0 +5.422， (2)
wherein D is min Indicates the minimum following distance, v 0 The speed at the time of the failure of the vehicle is indicated.
In an embodiment of the present invention, the third parametric model is represented by:
vehicle speed v of the vehicle at the time of occurrence of a hazard 0 When the concentration is less than or equal to 17 m/s:
Figure BDA0003876130930000022
vehicle speed v of the vehicle at the time of occurrence of a hazard 0 At > 17 m/s:
Figure BDA0003876130930000031
where v represents the real-time speed of the host vehicle, v 0 The speed at the time of failure of the vehicle is shown, t is the time from the time of failure of the vehicle to collision of the two vehicles, and e is a constant.
In an embodiment of the present invention, there is further provided a fault tolerant time interval calculation apparatus, including:
the information acquisition module is used for acquiring vehicle state information of a front vehicle and a self vehicle, wherein the vehicle state information comprises running time information, vehicle speed information and vehicle acceleration information;
the processing module is used for determining an acceleration model according to the running time information, the vehicle speed information and the vehicle acceleration information of the vehicle; determining a fifth parameter model according to the running time information and the vehicle speed information of the preceding vehicle; determining a fault tolerance time interval according to the fourth parameter model, the fifth parameter model and a preset second parameter model;
the operation module is used for solving a differential equation of the acceleration model to obtain a third parameter model; and integrating the third parameter model to obtain a fourth parameter model.
In an embodiment of the present invention, an electronic device is further provided, including:
one or more processors;
a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the fault tolerant time interval calculation method as described above.
In an embodiment of the present invention, there is further provided a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor of a computer, causes the computer to execute the fault tolerant time interval calculation method as described above.
The invention has the beneficial effects that: determining an acceleration model according to the running time information, the vehicle speed information and the vehicle acceleration information of the vehicle; solving a differential equation of the acceleration model to obtain a third parameter model; integrating the third parameter model to obtain a fourth parameter model; determining a fifth parameter model according to the running time information and the vehicle speed information of the preceding vehicle; and determining the fault tolerance time interval according to the fourth parameter model, the fifth parameter model and a preset second parameter model. According to the scheme, the value of the fault tolerance time interval can be rapidly obtained through the fourth parameter model, the fifth parameter model and the preset second parameter model, the speed is high, the cost is low, and the follow-up procedures are not affected.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic diagram of an implementation environment of a fault tolerant time interval calculation method according to an exemplary embodiment of the present application;
FIG. 2 is a schematic overall flow chart diagram of a fault tolerant time interval calculation method shown in an exemplary embodiment of the present application;
FIG. 3 is a block diagram of a fault tolerant time interval calculation apparatus shown in an exemplary embodiment of the present application;
FIG. 4 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure herein, wherein the embodiments of the present invention are described in detail with reference to the accompanying drawings and preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, and are not intended to limit the scope of the present invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
The smart terminal 110 shown in fig. 1 may be a terminal device such as a smart phone, a vehicle-mounted computer, a tablet computer, a notebook computer, or a wearable device, but is not limited thereto. The server 120 shown in fig. 1 is a server, and may be, for example, an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), and a big data and artificial intelligence platform, which is not limited herein. The intelligent terminal 110 may communicate with the navigation server 220 through a wireless network such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), 5G (fifth generation mobile information technology), etc., which is not limited herein.
Referring to fig. 2, fig. 2 is a flowchart illustrating a fault tolerance time interval calculation method according to an exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1 and specifically executed by the intelligent terminal 110 in the implementation environment. It should be understood that the method may be applied to other exemplary implementation environments and is specifically executed by devices in other implementation environments, and the embodiment does not limit the implementation environment to which the method is applied.
As shown in fig. 2, in an exemplary embodiment, the fault tolerant time interval calculation method at least includes steps S210 to S260, which are described in detail as follows:
step S210, vehicle state information of a preceding vehicle and a current vehicle is acquired, where the vehicle state information includes travel time information, vehicle speed information, and vehicle acceleration information.
Hundred kilometers of acceleration data (time, speed and acceleration) of any real vehicle are collected to be used as vehicle state information of the vehicle. The vehicle following speed of the vehicle is preset to be 60km/h. The front vehicle runs at a constant speed, and the speed of the front vehicle is 60km/h.
Step S220, determining an acceleration model according to the running time information, the vehicle speed information and the vehicle acceleration information of the vehicle.
By the formula of acceleration V t ＝V 0 + at, and the collected hundred kilometers of acceleration data (time, speed, acceleration) of any real vehicle, to obtain an acceleration model, the expression mode of which includes:
Figure BDA0003876130930000061
wherein a represents the own vehicleAcceleration at the moment of failure, v 0 The speed at which the vehicle is out of order is shown, and v is preset in this embodiment 0 And t represents the time from the moment when the vehicle breaks down to the time when the two vehicles collide, wherein the t is 60km/h.
The second parametric model is represented in a manner including:
D min ＝0.632×v 0 +5.422， (2)
wherein D is min Indicates the minimum following distance, v 0 A speed indicating a time when the vehicle is in trouble; the second parametric model is preset according to the dynamic performance data of the vehicle.
And step S230, solving a differential equation for the acceleration model to obtain a third parameter model.
Solving a differential equation to obtain a third parametric model according to the formula (1), wherein the expression mode of the third parametric model comprises:
vehicle speed v of the vehicle at the time of occurrence of a hazard 0 When the concentration is less than or equal to 17 m/s:
Figure BDA0003876130930000062
vehicle speed v at the time of occurrence of damage 0 At > 17 m/s:
Figure BDA0003876130930000063
where v represents the real-time speed of the host vehicle, v 0 The speed at the time of failure of the vehicle is shown, t is the time from the time of failure of the vehicle to collision of the two vehicles, and e is a constant.
Step S240, integrating the third parameter model to obtain a fourth parameter model.
The running distance S of the vehicle can be obtained by respectively integrating the formula (3) and the formula (4) Hv I.e. the fourth parametric model.
Step S250, determining a fifth parameter model according to the running time information and the vehicle speed information of the front vehicle.
The fifth parametric model is a kinematic model of the front vehicle, namely the relation between the running distance of the front vehicle and the running speed and time, and the representation mode of the fifth parametric model comprises the following steps:
S Rv ＝v 1 ×t， (5)
wherein S is Rv Indicating the distance traveled by the leading vehicle, v 1 Indicating the speed at which the vehicle is moving ahead, preset v in this embodiment 1 And t is 60km/h and represents the time from the moment when the vehicle breaks down to the moment when the two vehicles collide.
And step S260, determining a fault tolerance time interval according to the fourth parameter model, the fifth parameter model and a preset second parameter model.
And obtaining the value of the fault tolerance time interval according to the equality of the distance relational expression between the vehicle and the front vehicle in the fourth parameter model, the fifth parameter model and the preset second parameter model, wherein the value of the fault tolerance time interval is the value of t in the equation, and the expression mode comprises the following steps:
S Hv ＝D min +S Rv ， (6)
wherein S is Hv Indicates the distance traveled by the vehicle, S Hv Obtained by integrating the formula (3) and the formula (4) respectively;
D min indicates the minimum following distance, S Rv Indicating the distance traveled by the leading vehicle.
And (3) operating the calculation formula (6) in matlab software to obtain the value of the fault tolerance time interval.
In this embodiment, v is preset 0 Is 60km/h, v 1 The fault tolerance time interval is also 60km/h, and under the condition that the front vehicle runs at a constant speed, the fault tolerance time interval value is 1.2s.
MATLAB is a commercial mathematical software used in the fields of data analysis, wireless communication, deep learning, image processing and computer vision, signal processing, quantitative finance and risk management, robotics, control systems, and the like.
Fig. 3 is a block diagram of a fault tolerant time interval calculation apparatus shown in an exemplary embodiment of the present application. The device can be applied to the implementation environment shown in fig. 1 and is specifically configured in the intelligent terminal 110. The apparatus may also be applied to other exemplary implementation environments, and is specifically configured in other devices, and the embodiment does not limit the implementation environment to which the apparatus is applied.
As shown in fig. 3, the exemplary fault tolerant time interval calculating means comprises:
the information acquisition module 310 is configured to acquire vehicle state information of a preceding vehicle and a current vehicle, where the vehicle state information includes travel time information, vehicle speed information, and vehicle acceleration information;
a processing module 320, configured to determine an acceleration model according to the travel time information, the vehicle speed information, and the vehicle acceleration information of the host vehicle; determining a fifth parameter model according to the running time information and the vehicle speed information of the preceding vehicle; determining a fault tolerance time interval according to the fourth parameter model, the fifth parameter model and a preset second parameter model;
the operation module 330 is configured to solve a differential equation for the acceleration model to obtain a third parameter model; and integrating the third parameter model to obtain a fourth parameter model.
It should be noted that the fault-tolerant time interval calculation apparatus provided in the foregoing embodiment and the fault-tolerant time interval calculation method provided in the foregoing embodiment belong to the same concept, and specific ways of performing operations by each module and unit have been described in detail in the method embodiment, and are not described herein again. In practical applications, the fault tolerant time interval calculation apparatus provided in the above embodiment may distribute the above functions by different functional modules according to needs, that is, divide the internal structure of the apparatus into different functional modules to complete all or part of the above described functions, which is not limited herein.
An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the fault tolerant time interval calculation method provided in the above-described embodiments.
FIG. 4 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 400 of the electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments.
As shown in fig. 4, the computer system 400 includes a Central Processing Unit (CPU) 401, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 402 or a program loaded from a storage section 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for system operation are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An Input/Output (I/O) interface 405 is also connected to the bus 404.
The following components are connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including a Display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. A driver 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 410 as necessary, so that a computer program read out therefrom is mounted into the storage section 408 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 409 and/or installed from the removable medium 411. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 401.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the fault tolerant time interval calculation method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the fault tolerance time interval calculation method provided in the above embodiments. The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. A fault tolerant time interval calculation method, the method comprising:
acquiring vehicle state information of a front vehicle and a vehicle, wherein the vehicle state information comprises running time information, vehicle speed information and vehicle acceleration information;
determining an acceleration model according to the running time information, the vehicle speed information and the vehicle acceleration information of the vehicle;
solving a differential equation of the acceleration model to obtain a third parameter model;
integrating the third parameter model to obtain a fourth parameter model;
determining a fifth parameter model according to the running time information and the vehicle speed information of the preceding vehicle;
and determining the fault tolerance time interval according to the fourth parameter model, the fifth parameter model and a preset second parameter model.
2. The fault tolerant time interval calculation method of claim 1, wherein the presetting of the second parametric model comprises:
and presetting a second parameter model according to the vehicle speed information of the vehicle.
3. The fault-tolerant time interval calculation method of claim 1, wherein determining a fault-tolerant time interval based on the second parametric model, the fourth parametric model, and the fifth parametric model comprises:
and listing the second parameter model, the fourth parameter model and the fifth parameter model as equations to determine fault tolerance time intervals.
4. The fault-tolerant time interval calculation method of claim 3, wherein the step of using the second parametric model, the fourth parametric model and the fifth parametric model as equations to determine the fault-tolerant time interval comprises:
the fourth parametric model is equal to a sum of the second parametric model and a fifth parametric model.
5. The fault tolerant time interval calculation method of claim 1 wherein the acceleration model is represented in a manner comprising:
Figure FDA0003876130920000021
wherein a represents the acceleration of the vehicle at the time of failure, v 0 The speed at the time of failure of the vehicle is shown, and t is the time from the time of failure of the vehicle to the time of collision of the two vehicles.
6. The fault tolerant time interval calculation method of claim 1 wherein said second parametric model is represented in a manner comprising:
D min ＝0.632×v 0 +5.422， (2)
wherein D is min Indicates the minimum following distance, v 0 The speed at the time of the failure of the vehicle is indicated.
7. The fault tolerant time interval calculation method of claim 1 wherein said third parametric model is represented in a manner comprising:
vehicle speed v of the vehicle at the time of occurrence of a hazard 0 When the concentration is less than or equal to 17 m/s:
Figure FDA0003876130920000022
vehicle speed v at the time of occurrence of damage 0 At > 17 m/s:
Figure FDA0003876130920000023
where v represents the real-time speed of the host vehicle, v 0 The speed at the time of failure of the vehicle is shown, t is the time from the time of failure of the vehicle to collision of the two vehicles, and e is a constant.
8. A fault tolerant time interval calculation apparatus, said apparatus comprising:
the information acquisition module is used for acquiring vehicle state information of a front vehicle and a self vehicle, wherein the vehicle state information comprises running time information, vehicle speed information and vehicle acceleration information;
the processing module is used for determining an acceleration model according to the running time information, the vehicle speed information and the vehicle acceleration information of the vehicle; determining a fifth parameter model according to the running time information and the vehicle speed information of the preceding vehicle; determining a fault tolerance time interval according to the fourth parameter model, the fifth parameter model and a preset second parameter model;
the operation module is used for solving a differential equation of the acceleration model to obtain a third parameter model; and integrating the third parameter model to obtain a fourth parameter model.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the fault tolerant time interval calculation method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when executed by a processor of a computer, causes the computer to perform the fault tolerant time interval calculation method of any one of claims 1 to 7.
CN202211216078.8A 2022-09-30 2022-09-30 Fault-tolerant time interval calculation method and device, electronic equipment and storage medium Pending CN115563734A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116279544A (en) * 2023-03-21 2023-06-23 合众新能源汽车股份有限公司 Method and device for determining fault tolerance time interval of vehicle electronic power steering control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116279544A (en) * 2023-03-21 2023-06-23 合众新能源汽车股份有限公司 Method and device for determining fault tolerance time interval of vehicle electronic power steering control system
CN116279544B (en) * 2023-03-21 2023-12-15 合众新能源汽车股份有限公司 Method and device for determining fault tolerance time interval of vehicle electronic power steering control system

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